Processing Report

Generated with Drone2Map for ArcGIS

Summary

Project tesakhir
Processed 2019-11-29 16:08:23
Camera Model Name(s) DELAIR-TECH_BIGMAP_12.0_2448x2048 (RGB)
Average Ground Sampling Distance (GSD) 3.91 cm / 1.54 in
Area Covered 0.026 km2 / 2.5854 ha / 0.01 sq. mi. / 6.3920 acres
Time for Initial Processing (without report) 02m:21s

Quality Check

Images median of 23142 keypoints per image

Dataset 15 out of 15 images calibrated (100%), all images enabled

Camera Optimization 1.57% relative difference between initial and optimized internal camera parameters

Matching median of 10063.5 matches per calibrated image

Georeferencing yes, 6 GCPs (6 3D), mean RMS error = 2.126 m

Preview

Figure 1: Orthomosaic and the corresponding sparse Digital Surface Model (DSM) before densification.

Calibration Details
Number of Calibrated Images 15 out of 15
Number of Geolocated Images 15 out of 15

Initial Image Positions

 Figure 2: Top view of the initial image position. The green line follows the position of the images in time starting from the large blue dot.

Computed Image/GCPs/Manual Tie Points Positions

Uncertainty ellipses 5x magnified

Figure 3: Offset between initial (blue dots) and computed (green dots) image positions as well as the offset between the GCPs initial positions (blue crosses) and
their computed positions (green crosses) in the top-view (XY plane), front-view (XZ plane), and side-view (YZ plane). Dark green ellipses indicate the absolute
position uncertainty of the bundle block adjustment result.

Absolute camera position and orientation uncertainties

X [m] Y [m] Z [m] Omega [degree] Phi [degree] Kappa [degree]

Mean 1.280 2.498 1.221 1.074 0.589 0.274
Sigma 0.033 0.048 0.209 0.013 0.024 0.048

Overlap

Number of overlapping images: 1 2 3 4 5+

Figure 4: Number of overlapping images computed for each pixel of the orthomosaic.
Red and yellow areas indicate low overlap for which poor results may be generated. Green areas indicate an overlap of over 5 images for every pixel. Good
quality results will be generated as long as the number of keypoint matches is also sufficient for these areas (see Figure 5 for keypoint matches).

Bundle Block Adjustment Details

Number of 2D Keypoint Observations for Bundle Block Adjustment 145121
Number of 3D Points for Bundle Block Adjustment 59880
Mean Reprojection Error [pixels] 0.149

Internal Camera Parameters

DELAIR-TECH_BIGMAP_12.0_2448x2048 (RGB). Sensor Dimensions: 14.400 [mm] x 12.047 [mm]

EXIF ID: DELAIR-TECH_BIGMAP_12.0_2448x2048

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 3446.463 [pixel] 1224.001 [pixel] 1024.001 [pixel] -0.373 0.017 0.218 0.000 0.001
20.273 [mm] 7.200 [mm] 6.024 [mm]
Optimized Values 3500.901 [pixel] 1199.720 [pixel] 1110.494 [pixel] -0.414 0.324 -0.664 -0.003 0.002
20.594 [mm] 7.057 [mm] 6.532 [mm]
Uncertainties (Sigma) 10.890 [pixel] 10.627 [pixel] 12.361 [pixel] 0.004 0.036 0.105 0.001 0.001
0.064 [mm] 0.063 [mm] 0.073 [mm]
 Correlated
F
C0x

C0y
The correlation between camera internal parameters
R1 determined by the bundle adjustment. White indicates a full
correlation between the parameters, ie. any change in one can
be fully compensated by the other. Black indicates that the
R2 parameter is completely independent, and is not affected by
other parameters.

R3
Independent

T1

T2

The number of Automatic Tie Points (ATPs) per pixel, averaged over all images of the camera model,
is color coded between black and white. White indicates that, on average, more than 16 ATPs have
been extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted at
the pixel location. Click on the image to the see the average direction and magnitude of the re-
projection error for each pixel. Note that the vectors are scaled for better visualization. The scale bar
indicates the magnitude of 1 pixel error.

2D Keypoints Table

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 23142 10063
Min 18662 3730
Max 28489 14485
Mean 23332 9675

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 43146
In 3 Images 10658
In 4 Images 4042
In 5 Images 1517
In 6 Images 517

2D Keypoint Matches
 Uncertainty ellipses 100x magnified
Number of matches
25 222 444 666 888 1111 1333 1555 1777 2000
Figure 5: Computed image positions with links between matched images. The darkness of the links indicates the number of matched 2D keypoints between the
images. Bright links indicate weak links and require manual tie points or more images. Dark green ellipses indicate the relative camera position uncertainty of the
bundle block adjustment result.

Relative camera position and orientation uncertainties

X [m] Y [m] Z [m] Omega [degree] Phi [degree] Kappa [degree]

Mean 0.068 0.071 0.043 0.128 0.127 0.045
Sigma 0.012 0.012 0.020 0.026 0.029 0.013

Geolocation Details

Ground Control Points

GCP Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked
 From Map 0 (3D) 5.000/ 10.000 -6.987 2.324 -0.291 6.572 3/3
From Map 1 (3D) 5.000/ 10.000 4.727 -2.161 -1.579 2.980 3/3
From Map 2 (3D) 5.000/ 10.000 3.458 -0.874 0.917 2.391 4/4
From Map 3 (3D) 5.000/ 10.000 0.749 1.680 0.761 15.455 4/4
From Map 4 (3D) 5.000/ 10.000 1.105 0.116 -0.258 2.738 2/2
From Map 5 (3D) 5.000/ 10.000 -3.052 -1.084 0.449 3.005 3/3
Mean [m] 0.000028 0.000044 -0.000091
Sigma [m] 3.962658 1.573109 0.843338
RMS Error [m] 3.962658 1.573109 0.843338

Localisation accuracy per GCP and mean errors in the three coordinate directions. The last column counts the number of calibrated images where the GCP has
been automatically verified vs. manually marked.

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]
- -15.00 0.00 0.00 0.00
-15.00 -12.00 0.00 0.00 0.00
-12.00 -9.00 0.00 0.00 0.00
-9.00 -6.00 6.67 0.00 0.00
-6.00 -3.00 13.33 6.67 6.67
-3.00 0.00 26.67 46.67 40.00
0.00 3.00 33.33 40.00 46.67
3.00 6.00 20.00 6.67 6.67
6.00 9.00 0.00 0.00 0.00
9.00 12.00 0.00 0.00 0.00
12.00 15.00 0.00 0.00 0.00
15.00 - 0.00 0.00 0.00
Mean [m] 11.166521 16.888021 -9.233037
Sigma [m] 3.203399 2.072785 2.016169
RMS Error [m] 11.616926 17.014749 9.450604

Min Error and Max Error represent geolocation error intervals between -1.5 and 1.5 times the maximum accuracy of all the images. Columns X, Y, Z show the
percentage of images with geolocation errors within the predefined error intervals. The geolocation error is the difference between the initial and computed image
positions. Note that the image geolocation errors do not correspond to the accuracy of the observed 3D points.

Geolocation Bias X Y Z
Translation [m] 11.166521 16.888021 -9.233037

Bias between image initial and computed geolocation given in output coordinate system.

Relative Geolocation Variance

Relative Geolocation Error Images X [%] Images Y [%] Images Z [%]

[-1.00, 1.00] 93.33 93.33 100.00
[-2.00, 2.00] 100.00 100.00 100.00
[-3.00, 3.00] 100.00 100.00 100.00
Mean of Geolocation Accuracy [m] 5.000000 5.000000 10.000000
Sigma of Geolocation Accuracy [m] 0.000000 0.000000 0.000000

Images X, Y, Z represent the percentage of images with a relative geolocation error in X, Y, Z.

Initial Processing Details

System Information
 CPU: Intel(R) Core(TM) i7-4910MQ CPU @ 2.90GHz
Hardware RAM: 32GB
GPU: NVIDIA Quadro K2100M (Driver: 23.21.13.8908)
Operating System Windows 10 Pro, 64-bit

Coordinate Systems

Image Coordinate System GCS_WGS_1984 (EGM 96 Geoid)

Ground Control Point (GCP) Coordinate System WGS_1984_UTM_Zone_33S (EGM 96 Geoid)
Output Coordinate System WGS_1984_UTM_Zone_33S (EGM 96 Geoid)

Processing Options

Detected Template 2D Full

Keypoints Image Scale Full, Image Scale: 1
Advanced: Matching Image Pairs Aerial Grid or Corridor
Advanced: Matching Strategy Use Geometrically Verified Matching: no
Advanced: Keypoint Extraction Targeted Number of Keypoints: Automatic
Calibration Method: Standard
Advanced: Calibration Internal Parameters Optimization: All
External Parameters Optimization: All
Rematch: Auto, yes

Point Cloud Densification details

Processing Options

Image Scale multiscale, 1/2 (Half image size, Default)

Point Density Optimal
Minimum Number of Matches 3
3D Textured Mesh Generation no
LOD Generated: no
Advanced: Image Groups group1
Advanced: Use Processing Area yes
Advanced: Use Annotations yes
Time for Point Cloud Densification 02m:12s
Time for Point Cloud Classification 49s
Time for 3D Textured Mesh Generation NA

Results

Number of Generated Tiles 1

Number of 3D Densified Points 632096
Average Density (per m3) 39.39

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 1 x GSD (3.91 [cm/pixel])

DSM Filters Noise Filtering: yes
Surface Smoothing: yes, Type: Sharp
Generated: yes
Raster DSM Method: Inverse Distance Weighting
Merge Tiles: yes
Orthomosaic Generated: yes
Merge Tiles: yes
Raster DTM Generated: yes
Merge Tiles: yes
DTM Resolution 5 x GSD (3.91 [cm/pixel])
Time for DSM Generation 01m:01s
Time for Orthomosaic Generation 01m:05s
Time for DTM Generation 25s
Time for Contour Lines Generation 00s
Time for Reflectance Map Generation 00s
Time for Index Map Generation 00s